Optimizing an Autonomous Robot’s Path to Increase Movement Speed

Abstract

The goal of this study is to address the challenges associated with identifying and planning a mobile land robot’s path to optimize its speed in a stationary environment. Our focus was on devising routes that navigate around obstacles in various spatial arrangements. To achieve this, we employed MATLAB R2023b for trajectory simulation and optimization. On-board data processing was conducted, while obstacle detection relied on the omnidirectional video processing system integrated into the robot. Odometry was facilitated by engine encoders and optical flow sensors. Additionally, an external video system was utilized to verify the experimental data pertaining to the robot’s movement. Last but not least, the algorithms and hardware equipment used enabled the robot to go along the path at greater speeds. Limiting the amount of time and energy required to travel allowed us to avoid obstacles.